CN108745721B - Spray robot - Google Patents
Spray robot Download PDFInfo
- Publication number
- CN108745721B CN108745721B CN201810583075.5A CN201810583075A CN108745721B CN 108745721 B CN108745721 B CN 108745721B CN 201810583075 A CN201810583075 A CN 201810583075A CN 108745721 B CN108745721 B CN 108745721B
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- spray
- rouge
- shell
- retarder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/02—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling time, or sequence, of delivery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/042—Guidance of lubricant
- F16H57/043—Guidance of lubricant within rotary parts, e.g. axial channels or radial openings in shafts
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0434—Features relating to lubrication or cooling or heating relating to lubrication supply, e.g. pumps ; Pressure control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H57/00—General details of gearing
- F16H57/04—Features relating to lubrication or cooling or heating
- F16H57/0456—Lubrication by injection; Injection nozzles or tubes therefor
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a kind of spray robots, including pedestal and the translation motor being located on pedestal, retarder and translation stage；Translation stage is equipped with rotating seat, and first mechanical arm is housed on rotating seat, and second mechanical arm is housed in first mechanical arm, and second mechanical arm front end is equipped with spray equipment equipped with rotation mechanical arm, rotation mechanical arm front end；Spray equipment passes through flexible tracheae and is connected with the spray painting generation case being mounted in second mechanical arm, and spray painting occurs case and is provided with electric control pump；The power intake of the power output end connection retarder of translation motor, the power output end of retarder connect the front end of a screw rod, are equipped with screw hole in translation stage, screw rod is threadedly coupled with screw hole and is pierced by screw hole, and the rear end of screw rod is connected with the bearing being located on pedestal；The present invention can be realized automatic spraying processing, and worker is freed reduction labor intensity of workers from toxic spray station, improve working efficiency, job security and coating quality.
Description
Technical field
The present invention relates to industrial robot field more particularly to a kind of spray robots.
Background technique
Robot is widely used in manufacturing production, and robot is by mechanical arm and positioned at mechanical arm tail end
Tool completes the various work in production.Robot is the automatic installations for executing work, it can both receive mankind commander,
The program of preparatory layout can be run again, it can also be according to principle program action formulated with artificial intelligence technology, its task
It is the work for assisting or replacing human work.
In the production process of product, it is often necessary to be sprayed on product surface, thus in product surface covering
Protective layer or color layers.Conventional spray paint is mostly manual operation, and operator's hand takes spray gun, on the product for being placed on turntable
Carry out spraying operation.However, this mode haves the shortcomings that low efficiency, speed are slow, not can guarantee quality and insulation effect is poor, together
When spraying the bigger coating of toxicity, also easily hair personnel's accidental poisoning and casualty accident.
It is therefore desirable to which a kind of spray robot improves working efficiency, job security to reduce labor intensity of workers
And coating quality.
Summary of the invention
In view of this, reducing labor intensity of workers the purpose of the present invention is to provide a kind of spray robot, work is improved
Efficiency, job security and coating quality.
Spray robot of the invention, including pedestal and the translation motor being located on pedestal, retarder and translation stage；It is described
Translation stage is equipped with rotating seat, and first mechanical arm is housed on the rotating seat, and second mechanical arm is housed in first mechanical arm, and second
Mechanical arm front end is equipped with spray equipment equipped with rotation mechanical arm, rotation mechanical arm front end；The spray equipment passes through flexible tracheae
Case occurs with the spray painting being mounted in second mechanical arm to be connected, the spray painting occurs case and is provided with electric control pump；The translation motor
Power output end connection retarder power intake, the power output end of the retarder connects the front end of a screw rod, institute
State and be equipped with screw hole in translation stage, the screw rod is threadedly coupled with screw hole and is pierced by screw hole, the rear end of the screw rod be located at pedestal
On bearing be connected.
As further improvement to above-mentioned technical proposal, the position on the pedestal between retarder and bearing is set
There is sliding rail, the translation stage installation is slided on the slide rail and along sliding rail.
It further include control system as further improvement to above-mentioned technical proposal；The control system include processor,
For detecting between the ejection end of spray equipment and object to be sprayed the range sensor of distance and for acquiring object to be sprayed
The camera of image information, the range sensor and camera are installed on spray equipment；The range sensor, camera shooting
The signal output end of head is electrically connected with the signal input part of processor；The translation motor, for control rotating seat rotation
First rotating electric machine, the first oscillating motor for controlling first mechanical arm swing, for controlling second mechanical arm swing
Two oscillating motors, for control rotation mechanical arm the second rotating electric machine and electric control pump signal input part with the letter of processor
The electrical connection of number output end.
As further improvement to above-mentioned technical proposal, the retarder and for RV reducer structure and including shell set
Crankshaft in the shell, the interior lubrication for being equipped with the movement vice division chief flowed in shell for supplying lubricating grease and being lubricated of the crankshaft
Oil duct；It further include automatic stuffing system；The automatic stuffing system includes for the depot fat bucket of storing lubricating grease, for that will lubricate
The spray head that rouge is sprayed onto crankshaft, the grease-conveying tube for connecting depot fat bucket and spray head are connected to grease-conveying tube for driving lubricating grease stream
Dynamic oil pump, the driving motor for driving oil pump and the controller for controlling driving motor, the spray head are located in shell
Upper and the outlet end of spray head and the input end of oil leab are corresponding.
As further improvement to above-mentioned technical proposal, the controller includes the first timer and the second timer；
First timer is connected with the translation motor of retarder and driving motor, when for measuring and recording the work of translation motor
Between and when reaching set lubrication interval and translation motor and stopping issue enabling signal to driving motor；The grease-conveying tube is located at oil
The position of pump rear end is connected with solenoid valve；Second timer is connected with driving motor and solenoid valve, for measuring and recording
The working time of driving motor simultaneously issues stop signal to driving motor after reaching set setting time and issues to solenoid valve
Switching signal.
As further improvement to above-mentioned technical proposal, the automatic stuffing system further includes being located in retarder to be used for
The position sensor of crank position is detected, first timer is connected and when reaching set lubrication interval with position sensor
Enabling signal is issued to translation motor, keeps the outlet end of spray head corresponding with the input end of oil leab to drive crankshaft to be moved to
Position.
As further improvement to above-mentioned technical proposal, the spray head includes shell and is located at the intracorporal nozzle of shell, cunning
Slot and elastic component, are equipped with rouge stream chamber in the shell, and one end of the rouge stream chamber is connected with grease-conveying tube, the other end and oil leab
It is connected；The elastic component is fixed on that rouge stream is intracavitary and telescopic deformation can occur along the axial of rouge stream chamber, and the sliding slot is by elastic component
It supports and can drive elastic component that telescopic deformation, the nozzle occurs simultaneously along the axial movement of rouge stream chamber under the driving of rouge flowing pressure
The axial movement along rouge stream chamber is driven by chute supported and by sliding slot, is equipped with mouth pipeline in the nozzle, the sliding slot is equipped with
For open and close mouth pipeline can open type block piece, when the oil pressure in rouge stream chamber is greater than the set value described in can open type block piece open so that
The lubricating grease in rouge stream chamber is obtained to flow into mouth pipeline and flow to oil leab.
As further improvement to above-mentioned technical proposal, it is described can open type block piece be the baffle group being located at the top of sliding slot
Part, the baffle plate assembly are articulated with sliding slot and are controlled by torsionspring and opened and closed；The elastic component is extension spring；The torsion bullet
The rigidity of spring is greater than the rigidity of extension spring.
The mounting hole with shell form-fit is equipped with as further improvement to above-mentioned technical proposal, in the shell,
The nozzle is inserted into crankshaft from the input end of oil leab during the axial movement of rouge stream chamber or is detached from crankshaft.
By above disclosure, the present invention has following advantageous effects:
Spray robot of the invention, spray equipment by the translation of translation stage, the rotation of rotating seat, first mechanical arm and
The swing of second mechanical arm and the rotation for rotating mechanical arm can be moved flexibly in space and reach the position of object to be sprayed simultaneously
It is sprayed, can be realized automatic spraying processing, and worker is freed into reduction worker's labour from toxic spray station
Intensity improves working efficiency, job security and coating quality.
Detailed description of the invention
Fig. 1 is main view of the invention；
Fig. 2 is left view of the invention；
Fig. 3 is the functional block diagram of control system of the present invention；
Fig. 4 is the structural schematic diagram of retarder of the invention；
Fig. 5 is the structural schematic diagram of spray head of the invention.
Specific embodiment
Technical solution in order to enable those skilled in the art to better understand the present invention, in the following with reference to the drawings and specific embodiments
The present invention is described in further detail.
It is as shown in Figures 1 to 5: the spray robot of the present embodiment, including pedestal 1 and the translation motor being located on pedestal 1
2, retarder 3 and translation stage 4；The translation stage 4 is equipped with rotating seat 5, and first mechanical arm 61 is housed on the rotating seat 5, the
Second mechanical arm 62 is housed, 62 front end of second mechanical arm is equipped with rotation mechanical arm 63, before rotating mechanical arm 63 on one mechanical arm 61
End is equipped with spray equipment 7；The spray equipment 7 passes through flexible tracheae and case 8 occurs with the spray painting being mounted in second mechanical arm 62
It is connected, the spray painting occurs case 8 and is provided with electric control pump 81；The power of the power output end connection retarder 3 of the translation motor 2
Input terminal, the power output end of the retarder 3 connect the front end of a screw rod 31, are equipped with screw hole, the spiral shell in the translation stage 4
Bar 31 is threadedly coupled with screw hole and is pierced by screw hole, and the rear end of the screw rod 31 is connected with the bearing 11 being located on pedestal 1；Translation electricity
Machine 2, retarder 3 and translation stage 4 are on the same line；The structure and principle of spray equipment 7 are consistent with the prior art, herein no longer
It repeats；The rotary motion of screw rod 31 can drive translation stage 4 to move linearly, to adjust the lateral position of spray equipment 7；Pass through
The vertical position of spray equipment 7 is then adjusted in first mechanical arm 61, second mechanical arm 62；Spraying is then adjusted by rotating seat 5
The lengthwise position of device 7；Spray equipment 7 passes through the translation of translation stage 4, the rotation of rotating seat 5, first mechanical arm 61 and the second machine
The swing of tool arm 62 and the rotation for rotating mechanical arm 63 can be moved flexibly in space and reach the position of object to be sprayed and gone forward side by side
It goes and sprays, can be realized automatic spraying processing, and worker is freed into reduction worker labour by force from toxic spray station
Degree improves working efficiency, job security and coating quality.
In the present embodiment, the position on the pedestal 1 between retarder 3 and bearing is equipped with sliding rail 12, the translation
The installation of platform 4 is slided on the slide rail and along sliding rail 12；Sliding rail 12 is straight line type track；Sliding rail 12 is oriented to translation stage 4, guarantees
Its motion track meets processing needs；The settable pulley between sliding rail 12 and translation stage 4, to improve the movement of translation stage 4
Smooth degree；
In the present embodiment, spray robot further includes control system；The control system includes processor 131, for examining
Survey spray equipment 7 ejection end and object to be sprayed between distance range sensor 132 and for acquiring object figure to be sprayed
As the camera 133 of information, the range sensor 132 is installed on spray equipment 7 with camera 133；The distance passes
Sensor 132, camera 133 signal output end be electrically connected with the signal input part of processor 131；The translation motor 2 is used
In control rotating seat 5 rotate the first rotating electric machine 134, for control first mechanical arm 61 swing the first oscillating motor 135,
The second oscillating motor 136 for controlling the swing of second mechanical arm 62, the second rotating electric machine for controlling rotation mechanical arm 63
137 and the signal input part of electric control pump 81 be electrically connected with the signal output end of processor 131；Processor 131 can be single-chip microcontroller；
Processor 131 controls translation motor 2, the first rotating electric machine 134, the first oscillating motor 135, the rotation of the second oscillating motor 136, second
The movement of rotating motor 137 and electric control pump 81 is means commonly used in the prior art；Using this structure, when spraying, can be accurate
Position and the coating thickness for controlling the ejection end of spray equipment 7, can adapt to different working condition requirements；Processor 131 is by taking the photograph
As the detection spraying effect of head 133, coating quality ensure that.
In the present embodiment, the retarder 3 is for RV reducer structure and including shell 31 and the crankshaft being located in shell 31
32, the interior oil leab (figure for being equipped with the movement vice division chief flowed in shell 31 for supplying lubricating grease and being lubricated of the crankshaft 32
In be not shown)；It further include automatic stuffing system；The automatic stuffing system include for storing lubricating grease depot fat bucket 91, use
In in the oil leab that lubricating grease is sprayed onto crankshaft spray head 92, be used to connect depot fat bucket 91 and spray head 92 grease-conveying tube 93, even
It is connected to oil pump 94 of the grease-conveying tube 93 for driving lubricating grease to flow, the driving motor 95 for driving oil pump 94 and is driven for controlling
The controller of dynamic motor 95, the spray head 92 are located in the input end phase of on the shell 31 and outlet end of spray head 92 with oil leab
It is corresponding；In shell 31 other than crankshaft 32 is installed, other components same as the prior art are also equipped with, such as base bearing, song
Axle bearing, input shaft, input gear, planetary gear, Cycloidal Wheel and needle tooth, the structures of these components and action principle with existing skill
Art is consistent, and details are not described herein；Controller can be single-chip microcontroller or other mechanisms for being able to achieve automatic control；The lubrication of crankshaft 32
Oil duct is connected to the relative motion vice division chief in shell 31, and the structure of oil leab can be consistent with the prior art；Due to being additionally arranged certainly
Dynamic stuffing system, in the state of 3 inoperative of retarder, the lubricating grease in depot fat bucket 91 can be delivered to by automatic stuffing system to be subtracted
Self-lubricate is carried out in fast device 3；Specifically, after controller meets preset state or receives artificial instruction, to driving
Motor 95 issues enabling signal, and driving motor 95 starts and drive oil pump 94, the lubrication under the effect of oil pump 94 in depot fat bucket 91
Rouge flows to spray head 92 along oil leab, and since spray head 92 is corresponding with the oil leab of crankshaft in this state, lubricating grease is
The movement vice division chief flowed in shell 31 by oil leab is lubricated, and is achieved in automatic filling lubricating grease, saves manpower,
The influence for reducing human factor, guarantees the sufficient lubrication of each kinematic pair, promotes the service life of retarder.
In the present embodiment, the controller includes the first timer 96 and the second timer 97；First timer 96
It is connected with the translation motor 4 of retarder 3 and driving motor 95, for measuring and recording the working time of translation motor 2 and reaching
Enabling signal is issued to set lubrication interval and when translation motor 2 stops to driving motor 95；The grease-conveying tube is located at oil pump 94
The position of rear end is connected with solenoid valve 98；Second timer 97 is connected with driving motor 95 and solenoid valve 98, for measuring
And record the working time of driving motor 95 and after reaching set setting time to driving motor 95 issue stop signal and to
Solenoid valve 98 issues switching signal.
In the present embodiment, the automatic stuffing system further includes being located in retarder 3 for detecting the position of 32 position of crankshaft
Set sensor (not shown), first timer 96 be connected with position sensor and when reaching set lubrication interval to
Translation motor 2 issues enabling signal, the input end phase for making the outlet end of spray head 92 with oil leab to drive crankshaft 32 to be moved to
Corresponding position；Position sensor may be, for example, photo-electric structure；The structure can effectively ensure that 92 face of spray head in greasing
The input end of oil leab.
In the present embodiment, the spray head 92 includes shell 923 and the nozzle 921, sliding slot 928 and the bullet that are located in shell 923
Property part 927, be equipped with rouge stream chamber 924 in the shell 923, one end of the rouge stream chamber 924 is connected with grease-conveying tube 93, the other end and
Oil leab is connected；The elastic component 927 is fixed in rouge stream chamber 924 and telescopic deformation can occur along the axial of rouge stream chamber 924,
The sliding slot 928 by elastic component 927 support and can rouge flowing pressure driving under along rouge stream chamber 924 axial movement and meanwhile band move
Property part 927 occur telescopic deformation, the nozzle 921 supported by sliding slot 928 and by sliding slot 928 drive along rouge stream chamber 924 axial direction
It is mobile, it is equipped with mouth pipeline 922 in the nozzle 921, the sliding slot 928 is equipped with can open type gear for open and close mouth pipeline 922
Part, when the oil pressure in rouge stream chamber 924 is greater than the set value described in can open type block piece be opened so that the lubricating grease in rouge stream chamber 924
It flows into mouth pipeline 922 and flow to oil leab；Shell 923 positions other components for installing, and is cylindrical in shape；It is set in shell 923
There is a positioning step, the positioning step is fixed in the bottom end of elastic component 927；Sliding slot 928 can be annular in shape, is inside sheathed on shell
923；The side wall and 923 inner wall of shell of nozzle 921 keep sealing, and prevent lubricating grease leakage；Using the structure, nozzle 921 and cunning
Slot 928, so that nozzle 921 can be accommodated in shell 923 by contraction, can add automatically along the axial movement of shell 923
The running of retarder will not be had an impact under rouge system off working state；In the starting of automatic stuffing system, in rouge stream chamber 924
Grease pressure be gradually increased, push sliding slot 928 moved outward with nozzle 921, when oil pressure arrival to a certain degree when can open type
Block piece is opened, and lubricating grease flows into mouth pipeline 922 and flow to oil leab；Lubricating grease pressure after the completion of stuffing, in rouge stream chamber 924
Power is gradually reduced, and sliding slot 928 and nozzle 921 move inside and revert to original state under the action of elastic component 927.
In the present embodiment, it is described can open type block piece be the baffle plate assembly for being located at the top of sliding slot 928, the baffle plate assembly is hinged
Opening and closing is controlled in sliding slot 928 and by torsionspring；The elastic component 927 is extension spring；The rigidity of the torsionspring is greater than
The rigidity of extension spring；Baffle plate assembly include left and right two block baffles 925, two block baffles 925 respectively with corresponding torsionspring 926
It is connected and provides torsion by torsionspring 926；Two block baffles can stop lubricating grease to flow to mouth pipeline 922 when being closed, work as oil pressure
When reaching certain value, two block baffles 925 are turned down towards mouth pipeline 922 to switch to opening state, and lubricating grease can be flowed to mouth pipeline 922
It is dynamic；Certainly, can open type block piece existing check valve can also be used.
In the present embodiment, it is equipped with mounting hole with 923 form-fit of shell in the shell 31, the nozzle 921 is along rouge
It flows and is inserted into crankshaft 32 from the input end of oil leab during chamber 924 moves axially or is detached from crankshaft 32；Using the structure, it is convenient for
The fixation of spray head 92, the cooperation being also convenient between spray head 92 and crankshaft；The quantity of spray head 92 is identical as the quantity of crankshaft 32, when subtracting
When two crankshafts 32 are arranged in fast device 3, spray head 92 is also configured as two, is then arranged in parallel between two spray heads 92；Nozzle 921 is detached from
It can be accommodated in mounting hole completely when crankshaft 32, generate interference to avoid the running to retarder 3.
Finally, it is stated that applying herein, a specific example illustrates the principle and implementation of the invention, with
The explanation of upper embodiment is merely used to help understand the core idea of the present invention, without departing from the principles of the present invention, also
Can several improvements and modifications are made to the present invention, these improvement and modification are also fallen within the scope of the present invention.
Claims (7)
1. a kind of spray robot, it is characterised in that: including pedestal and the translation motor being located on pedestal, retarder and translation
Platform；The translation stage is equipped with rotating seat, and first mechanical arm is housed on the rotating seat, and it is mechanical to be equipped with second in first mechanical arm
Arm, second mechanical arm front end are equipped with spray equipment equipped with rotation mechanical arm, rotation mechanical arm front end；The spray equipment passes through soft
Property tracheae case occur with the spray painting that is mounted in second mechanical arm be connected, the spray painting generation case is provided with electric control pump；It is described flat
The power intake for moving the power output end connection retarder of motor, before the power output end of the retarder connects a screw rod
End, is equipped with screw hole in the translation stage, and the screw rod is threadedly coupled with screw hole and is pierced by screw hole, the rear end of the screw rod be located at
Bearing on pedestal is connected；
The retarder is RV reducer structure and including shell and sets crankshaft in the shell, is equipped in the crankshaft for supplying
The oil leab that the movement vice division chief that lubricating grease flows in shell is lubricated；It further include automatic stuffing system；It is described to add automatically
Rouge system includes the depot fat bucket for storing lubricating grease, the spray head for lubricating grease to be sprayed onto crankshaft, is used to connect depot fat bucket
With the grease-conveying tube of spray head, be connected to oil pump of the grease-conveying tube for driving lubricating grease to flow, the driving motor for driving oil pump and
For controlling the controller of driving motor, the spray head positioning is on the shell and the input end of the outlet end of spray head and oil leab
It is corresponding；
The spray head includes shell and is located at the intracorporal nozzle of shell, sliding slot and elastic component, and rouge stream chamber is equipped in the shell, described
One end of rouge stream chamber is connected with grease-conveying tube, the other end is connected with oil leab；It is intracavitary and can edge that the elastic component is fixed on rouge stream
Telescopic deformation occurs for the axial of rouge stream chamber, and the sliding slot is supported by elastic component and can be under the driving of rouge flowing pressure along the axis of rouge stream chamber
To movement while driving elastic component that telescopic deformation occurs, the nozzle drives the axial direction along rouge stream chamber by chute supported and by sliding slot
It is mobile, be equipped with mouth pipeline in the nozzle, the sliding slot be equipped with for open and close mouth pipeline can open type block piece, when in rouge stream chamber
Oil pressure when being greater than the set value described in can the lubricating grease that is opened so that in rouge stream chamber of open type block piece flow into mouth pipeline and flow to profit
Grease way.
2. spray robot according to claim 1, it is characterised in that: on the pedestal between retarder and bearing
Position be equipped with sliding rail, translation stage installation is slided on the slide rail and along sliding rail.
3. spray robot according to claim 2, it is characterised in that: further include control system；The control system packet
Include processor, the ejection end for detecting spray equipment and between object to be sprayed the range sensor of distance and for acquire to
The camera of object image information is sprayed, the range sensor and camera are installed on spray equipment；The distance passes
Sensor, camera signal output end be electrically connected with the signal input part of processor；The translation motor is rotated for controlling
Seat rotation the first rotating electric machine, for control first mechanical arm swing the first oscillating motor, for controlling second mechanical arm
Swing the second oscillating motor, for control rotate mechanical arm the second rotating electric machine and electric control pump signal input part with place
Manage the signal output end electrical connection of device.
4. spray robot according to claim 1, it is characterised in that: the controller includes the first timer and second
Timer；First timer is connected with the translation motor of retarder and driving motor, for measuring and recording translation motor
Working time and issue enabling signal to driving motor when reaching set lubrication interval and translation motor and stopping；The defeated rouge
The position that pipe is located at oil pump rear end is connected with solenoid valve；Second timer is connected with driving motor and solenoid valve, for surveying
It measures and records the working time of driving motor and to driving motor issue stop signal after reaching set setting time and to electricity
Magnet valve issues switching signal.
5. spray robot according to claim 4, it is characterised in that: the automatic stuffing system further includes being located at deceleration
For detecting the position sensor of crank position in device, first timer is connected with position sensor and is reaching set profit
Enabling signal is issued to translation motor when the sliding period, makes outlet end and the import of oil leab of spray head to drive crankshaft to be moved to
Hold corresponding position.
6. spray robot according to claim 5, it is characterised in that: it is described can open type block piece be to be located at the top of sliding slot
Baffle plate assembly, the baffle plate assembly are articulated with sliding slot and are controlled by torsionspring and opened and closed；The elastic component is extension spring；It is described
The rigidity of torsionspring is greater than the rigidity of extension spring.
7. spray robot according to claim 6, it is characterised in that: be equipped with and shell form-fit in the shell
Mounting hole, the nozzle are inserted into crankshaft from the input end of oil leab during the axial movement of rouge stream chamber or are detached from crankshaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810583075.5A CN108745721B (en) | 2018-06-07 | 2018-06-07 | Spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810583075.5A CN108745721B (en) | 2018-06-07 | 2018-06-07 | Spray robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108745721A CN108745721A (en) | 2018-11-06 |
| CN108745721B true CN108745721B (en) | 2019-09-06 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109821707A (en) * | 2019-01-14 | 2019-05-31 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of fill spray automatically method and its spray robot of spray robot |
| CN109806997B (en) * | 2019-02-27 | 2024-02-20 | 厦门理工学院 | Paint spraying device |
| CN112403747B (en) * | 2019-12-19 | 2021-11-02 | 苏州许本科技有限公司 | Multi-gun mixed control paint spraying robot based on visual servo |
| CN111036460A (en) * | 2019-12-19 | 2020-04-21 | 华能延安发电有限公司 | Intelligent anticorrosive material spraying system for desulfurization absorption tower of thermal power plant |
| CN111346770A (en) * | 2020-03-19 | 2020-06-30 | 联德(广州)机械有限公司 | Paint spraying equipment for inner wall of box body |
| CN114535357B (en) * | 2020-11-26 | 2024-09-10 | 宝山钢铁股份有限公司 | Steel pipe mark spray printing equipment and steel pipe mark spray printing method thereof |
| CN114749298B (en) * | 2022-03-22 | 2023-08-01 | 中车青岛四方机车车辆股份有限公司 | Spraying equipment and spraying method |
| FR3138619A1 (en) * | 2022-08-05 | 2024-02-09 | Safran Aircraft Engines | METHOD FOR MONITORING A THERMAL SPRAY DEVICE AND A THERMAL SPRAY INSTALLATION |
| CN117139014A (en) * | 2023-10-18 | 2023-12-01 | 河北仁良实业有限公司 | OMSA intelligent remolding robot |
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Patent Citations (5)
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